Adaptive Motion Tracking Control of Uncertain Nonholonomic Mechanical Systems with Motor Dynamics
نویسندگان
چکیده
This paper addresses the design of position tracking control of mechanical systems with classical nonholonomic constraints incorporating actuator dynamics. An adaptive controller is designed at the actuator level and the controller guarantees that the configuration state of the system tracks the desired trajectory. A detailed numerical example is presented to illustrate the developed method.
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